How to limit the joint speed in xarm6?

I am trying to make a continuous motion with xarm6.
When I instruct the arm to twist the wrist, the joint rotation becomes too fast and the motion stops. The error code is C24 “Speed Exceeds Limit”.
There is no need to move at high speed. Is there any way to limit the rotation speed of the joint and make it move at a constant speed?

You can refer to the article to solve the issue:

Thanks jane.I understood that the problem is that a singularity appears in the orbit. So I should use joint motion to indicate this. If I want to change the posture without changing the coordinates, how should I find the joint angle?

you can refer to the following video: